多星敏感器测量最优姿态估计算法

多数利用星敏感器加陀螺组合的姿态确定方法中,由于星敏感器精度较高,使得系统定姿的精度比较高.然而,姿态确定的算法因观测模型和误差处理不当,导致滤波器观测修正能力下降,从而不能有效地估计陀螺的漂移误差.提出了基于星敏感器观测姿态角的误差建模,研究了多星敏感器组合的最优安装构型和观测融合方法.利用加权最小二乘法对观测数据的预处理,使观测方程定常化.再利用陀螺加星敏感器组合的扩展Kalman滤波(EKF,Extended Kalman Filtering)对航天器姿态和陀螺漂移进行估计.仿真结果表明,提出的多星敏感器最优组合的滤波方法能够有效精确地估计卫星三轴姿态和陀螺漂移,且该方法计算量小,有利于卫星定姿系统的在轨自主运行.     

多敏感器联邦SSUKF融合姿态确定算法

针对四元数姿态估计问题,提出了一种分布式非线性滤波融合结构。通过引入基于超球面分布采样点变换(SSUT)技术的无迹卡尔曼滤波算法(SSUKF),以较低的计算量实现了高数据更新率、高精度的非线性滤波,并通过融合重构,保障系统无间断可靠工作,不受敏感器故障、视场盲区等因素影响。应用该算法对陀螺、磁强计、太阳敏感器、星敏感器构成的系统进行了具体设计并开展仿真研究,验证了算法的有效性。     

一种基于虚拟星敏感器的卫星姿态确定方法

对于配置多个星敏感器的卫星,采用常规的定常增益卡尔曼滤波方法进行姿态确定时,存在滤波定常增益矩阵众多、系统复杂的问题,为了简化滤波系统设计,统一定常增益矩阵,提出一种基于虚拟星敏感器的姿态确定方法.给出一种计算量小、适合星载计算机在轨实时计算的星敏感器时间滞后补偿及相对基准标定算法,将星敏感器的输出数据统一到当前星时,同时将星敏感器的测量基准统一.基于单星敏/双星敏的输出数据构造虚拟星敏感器(安装矩阵为单位阵)的输出数据,设计统一的定常增益矩阵进行姿态确定.仿真结果表明,本方法与常规的定常增益卡尔曼滤波方法姿态确定精度相当,从而验证该方法有效,且具有重要的工程应用价值.     

无陀螺下基于修正罗德里格参数的星体姿态确定

介绍了修正罗德里格参数(MRP),分析比较了姿态表示参数修正罗德里格参数和四元数的算法特点。通过仿真计算,比较了当卫星受一阶马尔柯夫干扰力矩作用和CCD星敏感器为唯一星载角运动传感器时,分别用修正罗德里格参数和四元数作为姿态表示参数,采用UKF(Unscented Kalman Filter)估计卫星航向、姿态及相应角速率的滤波效果。结果表明,用修正罗德里格参数法的姿态解算精度比用四元数法的姿态解算精度高,且计算效率明显优于四元数算法,计算量仅相当于四元数算法的一半,这是由于四元数的规范化条件(即模值为1),在姿态确定中会导致误差协方差阵奇异,而修正罗德里格参数虽然不是全局非奇异的,但是可以通过切换方法解决奇异性问题。     

基于四元数平方根容积卡尔曼滤波的姿态估计

针对飞行器姿态确定中乘性扩展卡尔曼滤波(MEKF,Multiplicative Extended Kalman Filter)在较大初始姿态误差角情况下存在估计精度低及收敛速度慢的问题,提出了一种四元数平方根容积卡尔曼滤波(QSCKF,Quaternion Square-root Cubature Kalman Filter)算法.在推导姿态确定系统四元数非线性误差模型的基础上,采用容积数值积分理论来计算非线性函数的均值与方差,同时使用平方根的形式来提高数值稳定性;针对四元数规范化问题,采用拉格朗日代价函数法求解四元数加权均值.仿真结果表明:在初始姿态误差较大的情况下,该算法相比较于MEKF以及无迹四元数估计法(USQUE,Unscented Quaternion Estimator),估计精度高且收敛速度快,滤波稳定性好,同时估计时间比USQUE缩短了1/3.     

基于四元数平方根容积卡尔曼滤波的姿态估计

针对飞行器姿态确定中乘性扩展卡尔曼滤波(MEKF, Multiplicative Extended Kalman Filter)在较大初始姿态误差角情况下存在估计精度低及收敛速度慢的问题,提出了一种四元数平方根容积卡尔曼滤波(QSCKF,Quaternion Square-root Cubature Kalman Filter)算法.在推导姿态确定系统四元数非线性误差模型的基础上,采用容积数值积分理论来计算非线性函数的均值与方差,同时使用平方根的形式来提高数值稳定性;针对四元数规范化问题,采用拉格朗日代价函数法求解四元数加权均值.仿真结果表明:在初始姿态误差较大的情况下,该算法相比较于MEKF以及无迹四元数估计法(USQUE, Unscented Quaternion Estimator),估计精度高且收敛速度快,滤波稳定性好,同时估计时间比USQUE缩短了1/3.     

基于矢量观测的航天器分段信息融合定姿方法

针对基于MEMS(微机电系统)陀螺和CMOS APS星敏感器的集成惯性/星光姿态确定系统的低精度特点,研究了适用于该定姿系统的基于矢量观测的定姿算法.对于陀螺/星敏感器这种配置模式,有EKF(Extended Kalman Filter)、QUEST、最优REQUEST等几种适用的定姿算法.针对EKF和最优REQUEST算法的不同特点并结合确定性算法QUEST,以四元数为姿态参数,将姿态估计的EKF方法分别与QUEST算法和最优REQUEST算法进行了融合,提出一种分段信息融合的姿态估计器:陀螺漂移估计误差较大时,将EKF与QUEST结合,快速估计出陀螺漂移.当陀螺漂移误差减小到一定程度,再切换为EKF与最优REQUEST算法融合的双重滤波器.仿真比较结果表明,这种分段信息融合的姿态估计器既可以估计姿态参数也可以估计陀螺漂移,并能达到很高的定姿精度.     

捷联惯导与星敏感器组合导航算法研究

以Kalman滤波为基础,通过将捷联惯导系统和星敏感器所测得的飞行器相关姿态信息进行数据融合,估计出组合导航系统的误差状态量,进而修正捷联惯导系统的位置、速度和姿态角。详细推导了捷联惯导与星敏感器组合导航的算法,并通过对仿真结果的分析证实了该方案的可行性和算法的有效性。     

基于UPF滤波的微小航天器姿态矩阵估计方法

针对基于惯性-星光姿态确定系统噪声存在非高斯分布的情况,提出了将离散粒子滤波(UPF)方法应用于定姿系统滤波器设计,该方法用离散卡尔曼滤波(UKF)得到粒子滤波的重要采样函数,从而克服扩展卡尔曼滤波(EKF)和UKF只能应用到噪声为高斯分布的不足。文章以微机电系统(MEMS)陀螺和互补性金属氧化物半导体有源像素图像传感器(CMOS APS)星敏感器为姿态敏感器件,选取基于矢量观测的最小参数姿态矩阵估计方法为定姿算法,提出将UPF与最小参数姿态矩阵估计方法结合,设计了一种针对微小航天器的UPF姿态估计器,采用从MEMS陀螺采集的数据进行了半物理仿真并对其特性进行了分析与比较。仿真比较结果表明:在敏感器精度较差并且系统噪声非高斯分布的情况下,这种基于UPF的姿态估计方法可以取得比EKF和UKF更快的滤波收敛性和更好的滤波精度,有效地提高了定姿性能。     

基于Gauss-Newton和UKF结合的微小卫星姿态确定算法

为提高微型低成本姿态敏感器的姿态确定精度,文章基于磁强计/太阳敏感器/陀螺的姿态敏感器配置,设计了高斯牛顿（Gauss-Newton,GN）迭代算法和无迹卡尔曼滤波（Unscented Kalman Filter,UKF）有机结合的微小卫星姿态确定算法,先用Gauss-Newton算法融合磁强计和太阳敏感器的数据,迭代计算最优四元数,然后以最优四元数联合陀螺数据作为观测量,以姿态四元数和惯性系下的角速度为状态量进行UKF,降低观测维数,并将观测方程转化为线性方程,显著减小计算量,同时克服了测量误差对姿态确定精度的影响。     

Stochastic particle acceleration by the forced interaction of relativistic current sheets

We address the problem of interacting relativistic current sheets in self-consistent kinetic plasma simulations within the framework of the Particle-In-Cell model. The interaction is enforced in head-on collisions of up to 10 current sheets at relativistic bulk speeds. The simulations are motivated by the general problem of Poynting flux dissipation in ‘striped wind’ configurations presumably governing the relativistic outflows pervasive in pulsar winds and gamma-ray bursts. We identify the generation of non-thermal particles and formation of a stable power-law shape in the particle energy distributions f(γ) dγ ∝ γ^−s dγ. In 1D, a spectral index s ∼ 2 is observed and attributed to a stochastic Fermi-type acceleration mechanism. In 2D, the generic index of s ∼ 3–4 is retained as in previous simulations of individual current sheets. Whereas in 2D the high energy cut-off is constrained by the limited dissipation of magnetic energy, in 1D the process converts the bulk motion of current sheets towards directed particle momentum of an exclusive class of non-thermal particles.     

基于LuGre模型的电液加载系统摩擦补偿

为了提高电液加载系统控制精度,针对摩擦问题提出了基于LuGre摩擦模型的前馈补偿方法.建立了用于摩擦仿真分析和补偿器设计的电液加载系统数学模型;通过实验获取并分析了相关的摩擦数据;基于实验数据进行LuGre模型参数辨识,把LuGre模型和辨识结果引入电液加载系统数学模型,并进行仿真结果与实际摩擦数据的对照,证明了LuGre摩擦模型的准确性.设计前馈补偿器,进行了实验对比,实验结果表明前馈补偿器可将摩擦产生的控制误差有效地降至未补偿时的30%左右.      

CoRoT and Kepler results: Solar-like oscillators

The space-borne observatories CoRoT (Convection Rotation and planetary Transits) and Kepler have provided photometric time series data of unprecedented precision for large numbers of stars. These data have revolutionized the fields of transiting exoplanets and asteroseismology. In this review some important asteroseismic results obtained using data from the CoRoT and Kepler space missions concerning stars that show solar-like oscillations are discussed. These results comprise, among others, measurements of the location of the base of the convection zone and helium second-ionization zone in main-sequence stars, the presence (or not) of core-helium burning in red-giant stars, as well as differential rotation in these stars.     

Radioactivity of the Moon and planets

In this report the main results of the study of radioactivity of the solar sistem bodies are considered. The radioactivity of the Moon and planets was measured by means of vehicles in situ. The radioactivity of the lunar samples, brought to the Earth was studied with laboratory equipment.     

Learning in an immersive digital theater

The Houston Museum of Natural Science, in collaboration with Rice University has an outreach program taking portable digital theaters to schools and community sites for over five years and has conducted research on student learning in this immersive environment. By using an external independent evaluator, the effectiveness of NASA-funded Education and Public Outreach (EPO) projects can be assessed. This paper documents interactive techniques and learning strategies in full-dome digital theaters. The presentation is divided into Evaluation Strategies and Results and Interactivity Strategies and Results. All learners from grades 3–12 showed statistically significant short-term increase in knowledge of basic Earth science concepts after a single 22-min show. Improvements were more significant on items that were taught using more than one modality of instruction: hearing, seeing, discussion, and immersion. Thus immersive theater can be an effective as well as engaging teaching method for Earth and Space science concepts, particularly those that are intrinsically three-dimensional and thus most effectively taught in an immersive environment. The portable system allows taking the educational experience to rural and tribal sites where the underserved students could not afford the time or expense to travel to museums.     

清镇陨石（EH3）中陨硫钙石的REE微量元素及成因意义

本文运用INAA分析了14个清镇陨石中陨硫钙石单矿物颗粒的难熔元素(La、Ce、Sm、Eu、Yb、Lu、Ca、Sc、Hf和Th),挥发性元素(Na、Cr、Zn、Se、Br等)和亲铁元素(Fe、Ni、Co、Ir、Au、As)含量。结果表明陨硫钙石高度富集难熔亲石元素,是顽火辉石陨石中REE的主要载体,携带了约80％的全岩REE总量。相对于HREE,LREE有更大的富集程度,而且早期凝聚的颗粒较晚期凝聚的颗粒更富集REE,同时陨硫钙石富集挥发性元素Se、Br等。清镇陨硫钙石的微量元素特征揭示了它来自于太阳星云的高温凝聚特征和成因。     

柔性航天器IPACS建模与动力学分析

利用拟坐标下的拉格朗日方程和动量矩定理,建立了带变速控制力矩陀螺群(VSCMGs,Variable Speed Control Moment Gyroscopes)的柔性航天器的能量/姿态一体化控制系统(IPACS, Integrated Power/Attitude Control System)的动力学模型,该模型适合于姿态控制律设计及VSCMGs操纵律设计.采用动量管理和VSCMGs构型选取相结合的方法,有效地避免了VSCMGs设计时可能出现的奇异问题.分析了采用VSCMGs的柔性航天器IPACS中的动力学耦合问题,并以某大型航天器为例进行了数值仿真.分析和仿真结果显示出,当VSCMGs的力矩轴接近(或陷入)奇异或进行储/放能切换时,VSCMGs都会对柔性附件造成显著影响.      

Progress in tropospheric ammonia retrieval from the MIPAS satellite instrument

The Michelson Interferometer for Passive Atmospheric Sounding is a polar orbiting high resolution mid-infrared emission limb sounder with a nominal vertical resolution of 3 km. Work to extend the list of routinely retrieved species led to the examination of ammonia, NH₃. In this paper, we explore the feasibility of upper tropospheric retrievals around 6-km altitude, discussing appropriate methods. We demonstrate a weak north to south gradient outside the error bars, using co-addition to improve signal-to-noise and compare these first results with a model.     

Monitoring spatio-temporal variations in aerosols and aerosol–cloud interactions over Pakistan using MODIS data

Clouds are important elements in climatic processes and interactions between aerosols and clouds are therefore a hot topic for scientific research. Aerosols show both spatial and temporal variations, which can lead to variations in the microphysics of clouds. In this research, we have examined the spatial and temporal variations in aerosol particles over Pakistan and the impact of these variations on various optical properties of clouds, using Moderate Resolution Imaging Spectroradiometer (MODIS) data from the Terra satellite. We used the Hybrid Single Particle Lagrangian Integrated Trajectory (HYSPLIT) model for trajectory analysis to reveal the origins of air masses, with the aim of understanding these spatial and temporal variabilities in aerosol concentrations. We also documented seasonal variations in patterns of aerosol optical depth (AOD) over Pakistan, for which the highest values occur during the monsoon season (June–August). We then analyzed the relationships between AOD and four other cloud parameters, namely water vapour (WV), cloud fraction (CF), cloud top temperature (CTT) and cloud top pressure (CTP). Regional correlation maps and time series plots for aerosol (AOD) and cloud parameters were produced to provide a better understanding of aerosol–cloud interaction. The analyses showed strong positive correlations between AOD and WV for all of the eight cities investigated. The correlation between AOD and CF was positive for those cities where the air masses were predominantly humid, but negative for those cities where the air masses were relatively dry and carried a low aerosol abundance. These correlations were clearly dependent on the meteorological conditions for all of the eight cities investigated. Because of the observed AOD–CF relationship, the co-variation of AOD with CTP and CTT may be attributable to large-scale meteorological variations: AOD showed a positive correlation with CTP and CTT in northern regions of Pakistan and a negative correlation in southern regions.     

Technology development for a long duration,mid-cloud level Venus balloon

This paper describes the results of ongoing technology development activities for a Venus spherical superpressure balloon capable of flying for long durations (30 days) in the middle cloud layer at an altitude of 55.5 km. Data is presented from a successful aerial deployment and inflation flight experiment on a 5.5 m diameter prototype balloon conducted at a 2.5 km altitude above the Earth. Although the balloon in that test was not released for free flight, all other steps in the deployment and inflation process were successfully executed. Experimental and computational results are also presented from an investigation of the stress concentration phenomenon at the junction of the metal end fitting and fabric end cap of the prototype Venus balloon. Good agreement was found between the simulation and experimental results and a stress concentration factor of 1.55 determined for this end cap design compared to the expectations of thin membrane theory. Finally, results are presented for a new, second-generation Venus balloon material utilizing Aclar™ film instead of Teflon. Optical property and sulfuric acid tolerance data are presented for this material based on laboratory testing of samples.